EP3801185A4 - CONTROL SYSTEM FOR CAPSULE ENDOSCOPE - Google Patents

CONTROL SYSTEM FOR CAPSULE ENDOSCOPE Download PDF

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Publication number
EP3801185A4
EP3801185A4 EP19811313.6A EP19811313A EP3801185A4 EP 3801185 A4 EP3801185 A4 EP 3801185A4 EP 19811313 A EP19811313 A EP 19811313A EP 3801185 A4 EP3801185 A4 EP 3801185A4
Authority
EP
European Patent Office
Prior art keywords
control system
capsule endoscope
endoscope
capsule
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19811313.6A
Other languages
German (de)
French (fr)
Other versions
EP3801185B1 (en
EP3801185A1 (en
Inventor
Xiaodong Duan
Shaobang ZHANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ankon Medical Technologies Shanghai Ltd
ANX IP Holding Pte Ltd
Original Assignee
Ankon Medical Technologies Shanghai Ltd
ANX IP Holding Pte Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ankon Medical Technologies Shanghai Ltd, ANX IP Holding Pte Ltd filed Critical Ankon Medical Technologies Shanghai Ltd
Publication of EP3801185A1 publication Critical patent/EP3801185A1/en
Publication of EP3801185A4 publication Critical patent/EP3801185A4/en
Application granted granted Critical
Publication of EP3801185B1 publication Critical patent/EP3801185B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • A61B2090/504—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism with a counterweight
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A61B5/073—Intestinal transmitters

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
EP19811313.6A 2018-06-02 2019-05-31 CONTROL SYSTEM FOR CAPSULE ENDOSCOPE Active EP3801185B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862679791P 2018-06-02 2018-06-02
PCT/CN2019/089669 WO2019228532A1 (en) 2018-06-02 2019-05-31 Control system for capsule endoscope

Publications (3)

Publication Number Publication Date
EP3801185A1 EP3801185A1 (en) 2021-04-14
EP3801185A4 true EP3801185A4 (en) 2022-03-23
EP3801185B1 EP3801185B1 (en) 2025-04-30

Family

ID=68698704

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19811313.6A Active EP3801185B1 (en) 2018-06-02 2019-05-31 CONTROL SYSTEM FOR CAPSULE ENDOSCOPE

Country Status (6)

Country Link
US (1) US11571116B2 (en)
EP (1) EP3801185B1 (en)
JP (1) JP7032609B2 (en)
KR (1) KR102505217B1 (en)
CN (2) CN210842945U (en)
WO (1) WO2019228532A1 (en)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110809425B (en) * 2018-06-02 2022-05-27 上海安翰医疗技术有限公司 Capsule endoscope control apparatus
WO2019228532A1 (en) * 2018-06-02 2019-12-05 Ankon Medical Technologies (Shanghai) Co., Ltd Control system for capsule endoscope
CN211355355U (en) * 2019-08-08 2020-08-28 上海安翰医疗技术有限公司 Remote control system of magnetic capsule endoscope
CN111184497B (en) 2020-04-08 2020-07-17 上海安翰医疗技术有限公司 Capsule endoscope control method and system
CN116725460B (en) * 2020-04-16 2025-12-09 上海长海医院 Magnetic control capsule gastroscopy vehicle and magnetic body for magnetically driving magnetic control capsule
CN111481153A (en) * 2020-05-28 2020-08-04 上海安翰医疗技术有限公司 A capsule endoscope control system and its control method
CN111603128A (en) * 2020-06-23 2020-09-01 上海安翰医疗技术有限公司 Suspension device and magnetic control system of capsule endoscope
CN111643040A (en) * 2020-07-10 2020-09-11 上海安翰医疗技术有限公司 Magnetic control device and control system of capsule endoscope
CN111657826A (en) * 2020-07-10 2020-09-15 上海安翰医疗技术有限公司 A magnetic control device and a magnetic control capsule endoscope system
CN111643038B (en) * 2020-07-10 2025-08-29 上海安翰医疗技术有限公司 Magnetic control device and control system for capsule endoscope
CN114052625A (en) * 2020-08-04 2022-02-18 深圳硅基智控科技有限公司 Hand-held magnetic control device
CN111973136B (en) * 2020-09-14 2022-11-25 上海安翰医疗技术有限公司 Control method and control system of magnetic control capsule endoscope device
CN112967858A (en) * 2021-03-08 2021-06-15 桂林电子科技大学 Controllable rotating magnetic field generating device
CN113116278A (en) * 2021-04-20 2021-07-16 河南工学院 Magnetic coupling control device, system and method of capsule robot
CN114587242A (en) * 2022-03-18 2022-06-07 湖北大学 A kind of active control device, system and method of magnetic spiral capsule endoscope
CN116784777A (en) * 2022-03-18 2023-09-22 安翰科技(武汉)股份有限公司 Magnetic capsule system and its pose calibration representation method
CN114557734B (en) * 2022-04-27 2022-07-15 山东第一医科大学附属省立医院(山东省立医院) A biopsy manipulator that can be operated by one person
CN114699033B (en) * 2022-05-13 2025-08-29 北京善行医疗科技有限公司 Control device for controllable ultra-thin endoscope
CN115067863B (en) * 2022-05-31 2023-03-14 元化智能科技(深圳)有限公司 Wireless capsule endoscope driving system based on spherical driver
CN115281835A (en) * 2022-07-25 2022-11-04 佗道医疗科技有限公司 A mechanical arm transmission system and transmission control method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5810712A (en) * 1996-09-27 1998-09-22 Ohio Medical Instrument Company, Inc. Surgical endoscope support and pivot
US20030191455A1 (en) * 2001-05-01 2003-10-09 Dan Sanchez Pivot point arm for a robotic system used to perform a surgical procedure
US20130110128A1 (en) * 2011-10-28 2013-05-02 Ovesco Endoscopy Ag Magnetic end effector and device for guiding and positioning the same

Family Cites Families (20)

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WO2000030557A1 (en) * 1998-11-23 2000-06-02 Microdexterity Systems, Inc. Surgical manipulator
KR100615881B1 (en) 2004-06-21 2006-08-25 한국과학기술연구원 Capsule Endoscope Control System
CN101374450B (en) * 2006-01-19 2012-01-25 奥林巴斯医疗株式会社 In vivo medical system
CN100519094C (en) * 2006-05-30 2009-07-29 宝山钢铁股份有限公司 Load equalization mechanism of mechanical arm for jet printing
KR100735863B1 (en) 2006-10-16 2007-07-06 한국항공대학교산학협력단 Capsule Endoscope Positioning System
ES2710273T3 (en) * 2010-01-22 2019-04-24 Novineon Healthcare Tech Partners Gmbh Capsule endoscope that includes magnetic drive
KR101181569B1 (en) * 2010-05-25 2012-09-10 정창욱 Surgical robot system capable of implementing both of single port surgery mode and multi-port surgery mode and method for controlling same
CN103419189B (en) * 2012-05-18 2016-05-18 范红兵 A kind of robot drives structure
WO2014113697A1 (en) * 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
US20140288416A1 (en) * 2013-03-22 2014-09-25 University Of Utah Research Foundation Manipulation of an untethered magentic device with a magnet actuator
CN103169443A (en) * 2013-03-29 2013-06-26 哈尔滨工业大学深圳研究生院 Magnetic control active capsule endoscope motion control system based on smart robot
CN203244366U (en) 2013-03-29 2013-10-23 哈尔滨工业大学深圳研究生院 Magnetic control active type capsule endoscope motion control system based on flexible robot
CN103222842B (en) * 2013-04-18 2015-09-09 安翰光电技术（武汉）有限公司 A kind of device and method controlling capsule endoscope and move at human body alimentary canal
CN203634116U (en) 2013-10-08 2014-06-11 安翰光电技术（武汉）有限公司 Lens focusing device for capsule endoscope
CN203650520U (en) * 2013-12-27 2014-06-18 广州市海同机电设备有限公司 Mechanical arm
US10709318B2 (en) * 2014-11-05 2020-07-14 Aktormed Gmbh Operation assistance system
CN105615817B (en) * 2015-12-22 2017-08-25 苏州向东智造医疗科技有限公司 A kind of medical capsule scope magnetic control guider
DE102017111296B3 (en) * 2017-05-23 2018-08-02 Medineering Gmbh Robotic manipulator for guiding an endoscope with parallel kinematics
US11122965B2 (en) * 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
WO2019228532A1 (en) * 2018-06-02 2019-12-05 Ankon Medical Technologies (Shanghai) Co., Ltd Control system for capsule endoscope

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5810712A (en) * 1996-09-27 1998-09-22 Ohio Medical Instrument Company, Inc. Surgical endoscope support and pivot
US20030191455A1 (en) * 2001-05-01 2003-10-09 Dan Sanchez Pivot point arm for a robotic system used to perform a surgical procedure
US20130110128A1 (en) * 2011-10-28 2013-05-02 Ovesco Endoscopy Ag Magnetic end effector and device for guiding and positioning the same

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2019228532A1 *

Also Published As

Publication number Publication date
JP7032609B2 (en) 2022-03-08
CN110809426A (en) 2020-02-18
CN110809426B (en) 2022-05-27
EP3801185B1 (en) 2025-04-30
JP2021526437A (en) 2021-10-07
US20190365211A1 (en) 2019-12-05
US11571116B2 (en) 2023-02-07
CN210842945U (en) 2020-06-26
WO2019228532A1 (en) 2019-12-05
KR102505217B1 (en) 2023-02-28
EP3801185A1 (en) 2021-04-14
KR20210018875A (en) 2021-02-18

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